The museum complex includes the historical David Taylor House, the 1864 Weinhold Family Homestead, the 1890s Schuchardt Barn with rural agricultural displays and the 1867 Bodenstab Cheese Factory with early commercial cheese making implements.

Changing exhibits include Native American history, ice harvesting, maritime, circus, local sports, and early agricultural.

The David Taylor House, built in the early 1850s by Sheboygan County Judge David Taylor, a prominent citizen in the early years of Sheboygan.

The house was then used by the caretaker of Taylor Park for many years and was leased to the Sheboygan County Historical Society in 1949.

The Sheboygan County Historical Museum was originally on the first floor of the David Taylor House.